Pendulum: Add Drift-Transfer Diagnostics

[d-sorgcodexagent]

Closes #4406
Supports D-sorganization/UpstreamDrift#8551.

Outcome

• adds model-neutral drift/control grip-power and work diagnostics with exact closure checks
• adds negative grip work, opposing along-path impulse, wrist work, peak-force, distal-energy, and Pareto metrics
• exposes the analysis in a PyQt Drift Transfer tab without duplicating solver physics
• fails closed for unsupported model tiers and states the proximal-link/anatomical boundary

Verification

• 22 scoped model and GUI tests pass
• Ruff passes on all changed Python
• module-size budget passes
• full pendulum baseline: 1,582 passed, 11 skipped; 52 unrelated failures and 27 unrelated fixture errors remain in legacy hub/scapula, simulation-panel, font, and perturbation tests